機械と土壌の相互力学に注目した建設ロボットの高精度シミュレーション

―マクロアプローチに基づいた掘削力学モデルの構築と実験的評価―

抄録

The main scope of this research is to establish a high-fidelity simulator for construction Machine, and particualr, this paper describes an interaction model that accurately estimates resistive force generated at a bucket while excavating. The model developed in this paper basically exploits Resistive Force Theory but also improves it such that the model well reproduces practical excavating characteristics. The proposed model is experimentally validated in different types of excavation motion using a bucket experimental apparatus.